// // Copyright (C) 2019-2021 Swift Navigation Inc. // Contact: https://support.swiftnav.com // // This source is subject to the license found in the file 'LICENSE' which must // be distributed together with this source. All other rights reserved. // // THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND, // EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED // WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE. // This file was auto-generated from spec/tests/yaml/swiftnav/sbp/navigation/test_MsgVelNED.yaml by generate.py. Do not modify by hand! use crate::*; /// Tests [`sbp::iter_messages`], from payload into SBP messages /// /// Asserts: /// - SBP fields equates to that of the field /// - Payload is identical #[test] fn test_auto_check_sbp_navigation_msg_vel_ned() { { let mut payload = Cursor::new(vec![ 85, 14, 2, 211, 136, 22, 40, 244, 122, 19, 3, 0, 0, 0, 252, 255, 255, 255, 243, 255, 255, 255, 0, 0, 0, 0, 14, 0, 86, 209, ]); // Test the round trip payload parsing let sbp_msg = { let mut msgs = iter_messages(&mut payload); msgs.next() .expect("no message found") .expect("failed to parse message") }; match &sbp_msg { sbp::messages::Sbp::MsgVelNed(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x20e, "Incorrect message type, expected 0x20e, is {}", msg_type ); let sender_id = msg.sender_id().unwrap(); assert_eq!( sender_id, 0x88d3, "incorrect sender id, expected 0x88d3, is {sender_id}" ); assert_eq!( msg.d, -13, "incorrect value for d, expected -13, is {}", msg.d ); assert_eq!( msg.e, -4, "incorrect value for e, expected -4, is {}", msg.e ); assert_eq!( msg.flags, 0, "incorrect value for flags, expected 0, is {}", msg.flags ); assert_eq!( msg.h_accuracy, 0, "incorrect value for h_accuracy, expected 0, is {}", msg.h_accuracy ); assert_eq!(msg.n, 3, "incorrect value for n, expected 3, is {}", msg.n); assert_eq!( msg.n_sats, 14, "incorrect value for n_sats, expected 14, is {}", msg.n_sats ); assert_eq!( msg.tow, 326825000, "incorrect value for tow, expected 326825000, is {}", msg.tow ); assert_eq!( msg.v_accuracy, 0, "incorrect value for v_accuracy, expected 0, is {}", msg.v_accuracy ); } _ => panic!("Invalid message type! Expected a MsgVelNED"), }; let frame = sbp::to_vec(&sbp_msg).unwrap(); assert_eq!(frame, payload.into_inner()); } { let mut payload = Cursor::new(vec![ 85, 14, 2, 211, 136, 22, 28, 246, 122, 19, 252, 255, 255, 255, 255, 255, 255, 255, 232, 255, 255, 255, 0, 0, 0, 0, 15, 0, 16, 228, ]); // Test the round trip payload parsing let sbp_msg = { let mut msgs = iter_messages(&mut payload); msgs.next() .expect("no message found") .expect("failed to parse message") }; match &sbp_msg { sbp::messages::Sbp::MsgVelNed(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x20e, "Incorrect message type, expected 0x20e, is {}", msg_type ); let sender_id = msg.sender_id().unwrap(); assert_eq!( sender_id, 0x88d3, "incorrect sender id, expected 0x88d3, is {sender_id}" ); assert_eq!( msg.d, -24, "incorrect value for d, expected -24, is {}", msg.d ); assert_eq!( msg.e, -1, "incorrect value for e, expected -1, is {}", msg.e ); assert_eq!( msg.flags, 0, "incorrect value for flags, expected 0, is {}", msg.flags ); assert_eq!( msg.h_accuracy, 0, "incorrect value for h_accuracy, expected 0, is {}", msg.h_accuracy ); assert_eq!( msg.n, -4, "incorrect value for n, expected -4, is {}", msg.n ); assert_eq!( msg.n_sats, 15, "incorrect value for n_sats, expected 15, is {}", msg.n_sats ); assert_eq!( msg.tow, 326825500, "incorrect value for tow, expected 326825500, is {}", msg.tow ); assert_eq!( msg.v_accuracy, 0, "incorrect value for v_accuracy, expected 0, is {}", msg.v_accuracy ); } _ => panic!("Invalid message type! Expected a MsgVelNED"), }; let frame = sbp::to_vec(&sbp_msg).unwrap(); assert_eq!(frame, payload.into_inner()); } { let mut payload = Cursor::new(vec![ 85, 14, 2, 211, 136, 22, 16, 248, 122, 19, 0, 0, 0, 0, 253, 255, 255, 255, 244, 255, 255, 255, 0, 0, 0, 0, 15, 0, 11, 164, ]); // Test the round trip payload parsing let sbp_msg = { let mut msgs = iter_messages(&mut payload); msgs.next() .expect("no message found") .expect("failed to parse message") }; match &sbp_msg { sbp::messages::Sbp::MsgVelNed(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x20e, "Incorrect message type, expected 0x20e, is {}", msg_type ); let sender_id = msg.sender_id().unwrap(); assert_eq!( sender_id, 0x88d3, "incorrect sender id, expected 0x88d3, is {sender_id}" ); assert_eq!( msg.d, -12, "incorrect value for d, expected -12, is {}", msg.d ); assert_eq!( msg.e, -3, "incorrect value for e, expected -3, is {}", msg.e ); assert_eq!( msg.flags, 0, "incorrect value for flags, expected 0, is {}", msg.flags ); assert_eq!( msg.h_accuracy, 0, "incorrect value for h_accuracy, expected 0, is {}", msg.h_accuracy ); assert_eq!(msg.n, 0, "incorrect value for n, expected 0, is {}", msg.n); assert_eq!( msg.n_sats, 15, "incorrect value for n_sats, expected 15, is {}", msg.n_sats ); assert_eq!( msg.tow, 326826000, "incorrect value for tow, expected 326826000, is {}", msg.tow ); assert_eq!( msg.v_accuracy, 0, "incorrect value for v_accuracy, expected 0, is {}", msg.v_accuracy ); } _ => panic!("Invalid message type! Expected a MsgVelNED"), }; let frame = sbp::to_vec(&sbp_msg).unwrap(); assert_eq!(frame, payload.into_inner()); } { let mut payload = Cursor::new(vec![ 85, 14, 2, 211, 136, 22, 4, 250, 122, 19, 2, 0, 0, 0, 3, 0, 0, 0, 232, 255, 255, 255, 0, 0, 0, 0, 15, 0, 152, 208, ]); // Test the round trip payload parsing let sbp_msg = { let mut msgs = iter_messages(&mut payload); msgs.next() .expect("no message found") .expect("failed to parse message") }; match &sbp_msg { sbp::messages::Sbp::MsgVelNed(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x20e, "Incorrect message type, expected 0x20e, is {}", msg_type ); let sender_id = msg.sender_id().unwrap(); assert_eq!( sender_id, 0x88d3, "incorrect sender id, expected 0x88d3, is {sender_id}" ); assert_eq!( msg.d, -24, "incorrect value for d, expected -24, is {}", msg.d ); assert_eq!(msg.e, 3, "incorrect value for e, expected 3, is {}", msg.e); assert_eq!( msg.flags, 0, "incorrect value for flags, expected 0, is {}", msg.flags ); assert_eq!( msg.h_accuracy, 0, "incorrect value for h_accuracy, expected 0, is {}", msg.h_accuracy ); assert_eq!(msg.n, 2, "incorrect value for n, expected 2, is {}", msg.n); assert_eq!( msg.n_sats, 15, "incorrect value for n_sats, expected 15, is {}", msg.n_sats ); assert_eq!( msg.tow, 326826500, "incorrect value for tow, expected 326826500, is {}", msg.tow ); assert_eq!( msg.v_accuracy, 0, "incorrect value for v_accuracy, expected 0, is {}", msg.v_accuracy ); } _ => panic!("Invalid message type! Expected a MsgVelNED"), }; let frame = sbp::to_vec(&sbp_msg).unwrap(); assert_eq!(frame, payload.into_inner()); } { let mut payload = Cursor::new(vec![ 85, 14, 2, 211, 136, 22, 248, 251, 122, 19, 1, 0, 0, 0, 0, 0, 0, 0, 235, 255, 255, 255, 0, 0, 0, 0, 15, 0, 182, 120, ]); // Test the round trip payload parsing let sbp_msg = { let mut msgs = iter_messages(&mut payload); msgs.next() .expect("no message found") .expect("failed to parse message") }; match &sbp_msg { sbp::messages::Sbp::MsgVelNed(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x20e, "Incorrect message type, expected 0x20e, is {}", msg_type ); let sender_id = msg.sender_id().unwrap(); assert_eq!( sender_id, 0x88d3, "incorrect sender id, expected 0x88d3, is {sender_id}" ); assert_eq!( msg.d, -21, "incorrect value for d, expected -21, is {}", msg.d ); assert_eq!(msg.e, 0, "incorrect value for e, expected 0, is {}", msg.e); assert_eq!( msg.flags, 0, "incorrect value for flags, expected 0, is {}", msg.flags ); assert_eq!( msg.h_accuracy, 0, "incorrect value for h_accuracy, expected 0, is {}", msg.h_accuracy ); assert_eq!(msg.n, 1, "incorrect value for n, expected 1, is {}", msg.n); assert_eq!( msg.n_sats, 15, "incorrect value for n_sats, expected 15, is {}", msg.n_sats ); assert_eq!( msg.tow, 326827000, "incorrect value for tow, expected 326827000, is {}", msg.tow ); assert_eq!( msg.v_accuracy, 0, "incorrect value for v_accuracy, expected 0, is {}", msg.v_accuracy ); } _ => panic!("Invalid message type! Expected a MsgVelNED"), }; let frame = sbp::to_vec(&sbp_msg).unwrap(); assert_eq!(frame, payload.into_inner()); } } /// Tests [`sbp::json::iter_messages`] for JSON payload -> SBP message /// and [`sbp::json::iter_messages_from_fields`] for JSON fields -> SBP message. /// /// Asserts: /// - SBP message constructed via payload is identical to from fields /// - SBP fields equates to that of the field /// - Payload is identical #[test] #[cfg(feature = "json")] fn test_json2sbp_auto_check_sbp_navigation_msg_vel_ned() { { let json_input = r#"{"v_accuracy": 0, "e": -4, "sender": 35027, "msg_type": 526, "tow": 326825000, "n": 3, "crc": 53590, "length": 22, "flags": 0, "h_accuracy": 0, "n_sats": 14, "preamble": 85, "payload": "KPR6EwMAAAD8////8////wAAAAAOAA==", "d": -13}"#.as_bytes(); let sbp_msg = { // JSON to SBP message from payload let mut iter = json2sbp_iter_msg(json_input); let from_payload = iter .next() .expect("no message found") .expect("failed to parse message"); // JSON to SBP message from fields let mut iter = iter_messages_from_fields(json_input); let from_fields = iter .next() .expect("no message found") .expect("failed to parse message"); assert_eq!(from_fields, from_payload); from_fields }; match &sbp_msg { sbp::messages::Sbp::MsgVelNed(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x20e, "Incorrect message type, expected 0x20e, is {}", msg_type ); let sender_id = msg.sender_id().unwrap(); assert_eq!( sender_id, 0x88d3, "incorrect sender id, expected 0x88d3, is {sender_id}" ); assert_eq!( msg.d, -13, "incorrect value for d, expected -13, is {}", msg.d ); assert_eq!( msg.e, -4, "incorrect value for e, expected -4, is {}", msg.e ); assert_eq!( msg.flags, 0, "incorrect value for flags, expected 0, is {}", msg.flags ); assert_eq!( msg.h_accuracy, 0, "incorrect value for h_accuracy, expected 0, is {}", msg.h_accuracy ); assert_eq!(msg.n, 3, "incorrect value for n, expected 3, is {}", msg.n); assert_eq!( msg.n_sats, 14, "incorrect value for n_sats, expected 14, is {}", msg.n_sats ); assert_eq!( msg.tow, 326825000, "incorrect value for tow, expected 326825000, is {}", msg.tow ); assert_eq!( msg.v_accuracy, 0, "incorrect value for v_accuracy, expected 0, is {}", msg.v_accuracy ); } _ => panic!("Invalid message type! Expected a MsgVelNED"), }; } { let json_input = r#"{"v_accuracy": 0, "e": -1, "sender": 35027, "msg_type": 526, "tow": 326825500, "n": -4, "crc": 58384, "length": 22, "flags": 0, "h_accuracy": 0, "n_sats": 15, "preamble": 85, "payload": "HPZ6E/z/////////6P///wAAAAAPAA==", "d": -24}"#.as_bytes(); let sbp_msg = { // JSON to SBP message from payload let mut iter = json2sbp_iter_msg(json_input); let from_payload = iter .next() .expect("no message found") .expect("failed to parse message"); // JSON to SBP message from fields let mut iter = iter_messages_from_fields(json_input); let from_fields = iter .next() .expect("no message found") .expect("failed to parse message"); assert_eq!(from_fields, from_payload); from_fields }; match &sbp_msg { sbp::messages::Sbp::MsgVelNed(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x20e, "Incorrect message type, expected 0x20e, is {}", msg_type ); let sender_id = msg.sender_id().unwrap(); assert_eq!( sender_id, 0x88d3, "incorrect sender id, expected 0x88d3, is {sender_id}" ); assert_eq!( msg.d, -24, "incorrect value for d, expected -24, is {}", msg.d ); assert_eq!( msg.e, -1, "incorrect value for e, expected -1, is {}", msg.e ); assert_eq!( msg.flags, 0, "incorrect value for flags, expected 0, is {}", msg.flags ); assert_eq!( msg.h_accuracy, 0, "incorrect value for h_accuracy, expected 0, is {}", msg.h_accuracy ); assert_eq!( msg.n, -4, "incorrect value for n, expected -4, is {}", msg.n ); assert_eq!( msg.n_sats, 15, "incorrect value for n_sats, expected 15, is {}", msg.n_sats ); assert_eq!( msg.tow, 326825500, "incorrect value for tow, expected 326825500, is {}", msg.tow ); assert_eq!( msg.v_accuracy, 0, "incorrect value for v_accuracy, expected 0, is {}", msg.v_accuracy ); } _ => panic!("Invalid message type! Expected a MsgVelNED"), }; } { let json_input = r#"{"v_accuracy": 0, "e": -3, "sender": 35027, "msg_type": 526, "tow": 326826000, "n": 0, "crc": 41995, "length": 22, "flags": 0, "h_accuracy": 0, "n_sats": 15, "preamble": 85, "payload": "EPh6EwAAAAD9////9P///wAAAAAPAA==", "d": -12}"#.as_bytes(); let sbp_msg = { // JSON to SBP message from payload let mut iter = json2sbp_iter_msg(json_input); let from_payload = iter .next() .expect("no message found") .expect("failed to parse message"); // JSON to SBP message from fields let mut iter = iter_messages_from_fields(json_input); let from_fields = iter .next() .expect("no message found") .expect("failed to parse message"); assert_eq!(from_fields, from_payload); from_fields }; match &sbp_msg { sbp::messages::Sbp::MsgVelNed(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x20e, "Incorrect message type, expected 0x20e, is {}", msg_type ); let sender_id = msg.sender_id().unwrap(); assert_eq!( sender_id, 0x88d3, "incorrect sender id, expected 0x88d3, is {sender_id}" ); assert_eq!( msg.d, -12, "incorrect value for d, expected -12, is {}", msg.d ); assert_eq!( msg.e, -3, "incorrect value for e, expected -3, is {}", msg.e ); assert_eq!( msg.flags, 0, "incorrect value for flags, expected 0, is {}", msg.flags ); assert_eq!( msg.h_accuracy, 0, "incorrect value for h_accuracy, expected 0, is {}", msg.h_accuracy ); assert_eq!(msg.n, 0, "incorrect value for n, expected 0, is {}", msg.n); assert_eq!( msg.n_sats, 15, "incorrect value for n_sats, expected 15, is {}", msg.n_sats ); assert_eq!( msg.tow, 326826000, "incorrect value for tow, expected 326826000, is {}", msg.tow ); assert_eq!( msg.v_accuracy, 0, "incorrect value for v_accuracy, expected 0, is {}", msg.v_accuracy ); } _ => panic!("Invalid message type! Expected a MsgVelNED"), }; } { let json_input = r#"{"v_accuracy": 0, "e": 3, "sender": 35027, "msg_type": 526, "tow": 326826500, "n": 2, "crc": 53400, "length": 22, "flags": 0, "h_accuracy": 0, "n_sats": 15, "preamble": 85, "payload": "BPp6EwIAAAADAAAA6P///wAAAAAPAA==", "d": -24}"#.as_bytes(); let sbp_msg = { // JSON to SBP message from payload let mut iter = json2sbp_iter_msg(json_input); let from_payload = iter .next() .expect("no message found") .expect("failed to parse message"); // JSON to SBP message from fields let mut iter = iter_messages_from_fields(json_input); let from_fields = iter .next() .expect("no message found") .expect("failed to parse message"); assert_eq!(from_fields, from_payload); from_fields }; match &sbp_msg { sbp::messages::Sbp::MsgVelNed(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x20e, "Incorrect message type, expected 0x20e, is {}", msg_type ); let sender_id = msg.sender_id().unwrap(); assert_eq!( sender_id, 0x88d3, "incorrect sender id, expected 0x88d3, is {sender_id}" ); assert_eq!( msg.d, -24, "incorrect value for d, expected -24, is {}", msg.d ); assert_eq!(msg.e, 3, "incorrect value for e, expected 3, is {}", msg.e); assert_eq!( msg.flags, 0, "incorrect value for flags, expected 0, is {}", msg.flags ); assert_eq!( msg.h_accuracy, 0, "incorrect value for h_accuracy, expected 0, is {}", msg.h_accuracy ); assert_eq!(msg.n, 2, "incorrect value for n, expected 2, is {}", msg.n); assert_eq!( msg.n_sats, 15, "incorrect value for n_sats, expected 15, is {}", msg.n_sats ); assert_eq!( msg.tow, 326826500, "incorrect value for tow, expected 326826500, is {}", msg.tow ); assert_eq!( msg.v_accuracy, 0, "incorrect value for v_accuracy, expected 0, is {}", msg.v_accuracy ); } _ => panic!("Invalid message type! Expected a MsgVelNED"), }; } { let json_input = r#"{"v_accuracy": 0, "e": 0, "sender": 35027, "msg_type": 526, "tow": 326827000, "n": 1, "crc": 30902, "length": 22, "flags": 0, "h_accuracy": 0, "n_sats": 15, "preamble": 85, "payload": "+Pt6EwEAAAAAAAAA6////wAAAAAPAA==", "d": -21}"#.as_bytes(); let sbp_msg = { // JSON to SBP message from payload let mut iter = json2sbp_iter_msg(json_input); let from_payload = iter .next() .expect("no message found") .expect("failed to parse message"); // JSON to SBP message from fields let mut iter = iter_messages_from_fields(json_input); let from_fields = iter .next() .expect("no message found") .expect("failed to parse message"); assert_eq!(from_fields, from_payload); from_fields }; match &sbp_msg { sbp::messages::Sbp::MsgVelNed(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x20e, "Incorrect message type, expected 0x20e, is {}", msg_type ); let sender_id = msg.sender_id().unwrap(); assert_eq!( sender_id, 0x88d3, "incorrect sender id, expected 0x88d3, is {sender_id}" ); assert_eq!( msg.d, -21, "incorrect value for d, expected -21, is {}", msg.d ); assert_eq!(msg.e, 0, "incorrect value for e, expected 0, is {}", msg.e); assert_eq!( msg.flags, 0, "incorrect value for flags, expected 0, is {}", msg.flags ); assert_eq!( msg.h_accuracy, 0, "incorrect value for h_accuracy, expected 0, is {}", msg.h_accuracy ); assert_eq!(msg.n, 1, "incorrect value for n, expected 1, is {}", msg.n); assert_eq!( msg.n_sats, 15, "incorrect value for n_sats, expected 15, is {}", msg.n_sats ); assert_eq!( msg.tow, 326827000, "incorrect value for tow, expected 326827000, is {}", msg.tow ); assert_eq!( msg.v_accuracy, 0, "incorrect value for v_accuracy, expected 0, is {}", msg.v_accuracy ); } _ => panic!("Invalid message type! Expected a MsgVelNED"), }; } } /// Tests [`sbp::json::JsonEncoder`] for roundtrip SBP message -> JSON /// /// Assumes: /// - [`self::test_auto_check_sbp_navigation_msg_vel_ned`] passes /// /// Asserts: /// - SBP fields equates to that of the field /// - Payload is identical #[test] #[cfg(feature = "json")] fn test_sbp2json_auto_check_sbp_navigation_msg_vel_ned() { { let mut payload = Cursor::new(vec![ 85, 14, 2, 211, 136, 22, 40, 244, 122, 19, 3, 0, 0, 0, 252, 255, 255, 255, 243, 255, 255, 255, 0, 0, 0, 0, 14, 0, 86, 209, ]); // Construct sbp message let sbp_msg = { let mut msgs = iter_messages(&mut payload); msgs.next() .expect("no message found") .expect("failed to parse message") }; let mut json_buffer = vec![]; // Populate json buffer, CompactFormatter sbp::json::JsonEncoder::new(&mut json_buffer, sbp::json::CompactFormatter {}) .send(&sbp_msg) .unwrap(); // Reconstruct Sbp message from json fields, roundtrip let sbp_msg = sbp::messages::Sbp::MsgVelNed( serde_json::from_str( std::str::from_utf8(json_buffer.as_slice()) .unwrap() .to_string() .as_str(), ) .unwrap(), ); match &sbp_msg { sbp::messages::Sbp::MsgVelNed(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x20e, "Incorrect message type, expected 0x20e, is {}", msg_type ); let sender_id = msg.sender_id().unwrap(); assert_eq!( sender_id, 0x88d3, "incorrect sender id, expected 0x88d3, is {sender_id}" ); assert_eq!( msg.d, -13, "incorrect value for d, expected -13, is {}", msg.d ); assert_eq!( msg.e, -4, "incorrect value for e, expected -4, is {}", msg.e ); assert_eq!( msg.flags, 0, "incorrect value for flags, expected 0, is {}", msg.flags ); assert_eq!( msg.h_accuracy, 0, "incorrect value for h_accuracy, expected 0, is {}", msg.h_accuracy ); assert_eq!(msg.n, 3, "incorrect value for n, expected 3, is {}", msg.n); assert_eq!( msg.n_sats, 14, "incorrect value for n_sats, expected 14, is {}", msg.n_sats ); assert_eq!( msg.tow, 326825000, "incorrect value for tow, expected 326825000, is {}", msg.tow ); assert_eq!( msg.v_accuracy, 0, "incorrect value for v_accuracy, expected 0, is {}", msg.v_accuracy ); } _ => panic!("Invalid message type! Expected a MsgVelNED"), }; // Check payload is still identical let frame = sbp::to_vec(&sbp_msg).unwrap(); assert_eq!(frame, payload.into_inner()); } { let mut payload = Cursor::new(vec![ 85, 14, 2, 211, 136, 22, 28, 246, 122, 19, 252, 255, 255, 255, 255, 255, 255, 255, 232, 255, 255, 255, 0, 0, 0, 0, 15, 0, 16, 228, ]); // Construct sbp message let sbp_msg = { let mut msgs = iter_messages(&mut payload); msgs.next() .expect("no message found") .expect("failed to parse message") }; let mut json_buffer = vec![]; // Populate json buffer, CompactFormatter sbp::json::JsonEncoder::new(&mut json_buffer, sbp::json::CompactFormatter {}) .send(&sbp_msg) .unwrap(); // Reconstruct Sbp message from json fields, roundtrip let sbp_msg = sbp::messages::Sbp::MsgVelNed( serde_json::from_str( std::str::from_utf8(json_buffer.as_slice()) .unwrap() .to_string() .as_str(), ) .unwrap(), ); match &sbp_msg { sbp::messages::Sbp::MsgVelNed(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x20e, "Incorrect message type, expected 0x20e, is {}", msg_type ); let sender_id = msg.sender_id().unwrap(); assert_eq!( sender_id, 0x88d3, "incorrect sender id, expected 0x88d3, is {sender_id}" ); assert_eq!( msg.d, -24, "incorrect value for d, expected -24, is {}", msg.d ); assert_eq!( msg.e, -1, "incorrect value for e, expected -1, is {}", msg.e ); assert_eq!( msg.flags, 0, "incorrect value for flags, expected 0, is {}", msg.flags ); assert_eq!( msg.h_accuracy, 0, "incorrect value for h_accuracy, expected 0, is {}", msg.h_accuracy ); assert_eq!( msg.n, -4, "incorrect value for n, expected -4, is {}", msg.n ); assert_eq!( msg.n_sats, 15, "incorrect value for n_sats, expected 15, is {}", msg.n_sats ); assert_eq!( msg.tow, 326825500, "incorrect value for tow, expected 326825500, is {}", msg.tow ); assert_eq!( msg.v_accuracy, 0, "incorrect value for v_accuracy, expected 0, is {}", msg.v_accuracy ); } _ => panic!("Invalid message type! Expected a MsgVelNED"), }; // Check payload is still identical let frame = sbp::to_vec(&sbp_msg).unwrap(); assert_eq!(frame, payload.into_inner()); } { let mut payload = Cursor::new(vec![ 85, 14, 2, 211, 136, 22, 16, 248, 122, 19, 0, 0, 0, 0, 253, 255, 255, 255, 244, 255, 255, 255, 0, 0, 0, 0, 15, 0, 11, 164, ]); // Construct sbp message let sbp_msg = { let mut msgs = iter_messages(&mut payload); msgs.next() .expect("no message found") .expect("failed to parse message") }; let mut json_buffer = vec![]; // Populate json buffer, CompactFormatter sbp::json::JsonEncoder::new(&mut json_buffer, sbp::json::CompactFormatter {}) .send(&sbp_msg) .unwrap(); // Reconstruct Sbp message from json fields, roundtrip let sbp_msg = sbp::messages::Sbp::MsgVelNed( serde_json::from_str( std::str::from_utf8(json_buffer.as_slice()) .unwrap() .to_string() .as_str(), ) .unwrap(), ); match &sbp_msg { sbp::messages::Sbp::MsgVelNed(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x20e, "Incorrect message type, expected 0x20e, is {}", msg_type ); let sender_id = msg.sender_id().unwrap(); assert_eq!( sender_id, 0x88d3, "incorrect sender id, expected 0x88d3, is {sender_id}" ); assert_eq!( msg.d, -12, "incorrect value for d, expected -12, is {}", msg.d ); assert_eq!( msg.e, -3, "incorrect value for e, expected -3, is {}", msg.e ); assert_eq!( msg.flags, 0, "incorrect value for flags, expected 0, is {}", msg.flags ); assert_eq!( msg.h_accuracy, 0, "incorrect value for h_accuracy, expected 0, is {}", msg.h_accuracy ); assert_eq!(msg.n, 0, "incorrect value for n, expected 0, is {}", msg.n); assert_eq!( msg.n_sats, 15, "incorrect value for n_sats, expected 15, is {}", msg.n_sats ); assert_eq!( msg.tow, 326826000, "incorrect value for tow, expected 326826000, is {}", msg.tow ); assert_eq!( msg.v_accuracy, 0, "incorrect value for v_accuracy, expected 0, is {}", msg.v_accuracy ); } _ => panic!("Invalid message type! Expected a MsgVelNED"), }; // Check payload is still identical let frame = sbp::to_vec(&sbp_msg).unwrap(); assert_eq!(frame, payload.into_inner()); } { let mut payload = Cursor::new(vec![ 85, 14, 2, 211, 136, 22, 4, 250, 122, 19, 2, 0, 0, 0, 3, 0, 0, 0, 232, 255, 255, 255, 0, 0, 0, 0, 15, 0, 152, 208, ]); // Construct sbp message let sbp_msg = { let mut msgs = iter_messages(&mut payload); msgs.next() .expect("no message found") .expect("failed to parse message") }; let mut json_buffer = vec![]; // Populate json buffer, CompactFormatter sbp::json::JsonEncoder::new(&mut json_buffer, sbp::json::CompactFormatter {}) .send(&sbp_msg) .unwrap(); // Reconstruct Sbp message from json fields, roundtrip let sbp_msg = sbp::messages::Sbp::MsgVelNed( serde_json::from_str( std::str::from_utf8(json_buffer.as_slice()) .unwrap() .to_string() .as_str(), ) .unwrap(), ); match &sbp_msg { sbp::messages::Sbp::MsgVelNed(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x20e, "Incorrect message type, expected 0x20e, is {}", msg_type ); let sender_id = msg.sender_id().unwrap(); assert_eq!( sender_id, 0x88d3, "incorrect sender id, expected 0x88d3, is {sender_id}" ); assert_eq!( msg.d, -24, "incorrect value for d, expected -24, is {}", msg.d ); assert_eq!(msg.e, 3, "incorrect value for e, expected 3, is {}", msg.e); assert_eq!( msg.flags, 0, "incorrect value for flags, expected 0, is {}", msg.flags ); assert_eq!( msg.h_accuracy, 0, "incorrect value for h_accuracy, expected 0, is {}", msg.h_accuracy ); assert_eq!(msg.n, 2, "incorrect value for n, expected 2, is {}", msg.n); assert_eq!( msg.n_sats, 15, "incorrect value for n_sats, expected 15, is {}", msg.n_sats ); assert_eq!( msg.tow, 326826500, "incorrect value for tow, expected 326826500, is {}", msg.tow ); assert_eq!( msg.v_accuracy, 0, "incorrect value for v_accuracy, expected 0, is {}", msg.v_accuracy ); } _ => panic!("Invalid message type! Expected a MsgVelNED"), }; // Check payload is still identical let frame = sbp::to_vec(&sbp_msg).unwrap(); assert_eq!(frame, payload.into_inner()); } { let mut payload = Cursor::new(vec![ 85, 14, 2, 211, 136, 22, 248, 251, 122, 19, 1, 0, 0, 0, 0, 0, 0, 0, 235, 255, 255, 255, 0, 0, 0, 0, 15, 0, 182, 120, ]); // Construct sbp message let sbp_msg = { let mut msgs = iter_messages(&mut payload); msgs.next() .expect("no message found") .expect("failed to parse message") }; let mut json_buffer = vec![]; // Populate json buffer, CompactFormatter sbp::json::JsonEncoder::new(&mut json_buffer, sbp::json::CompactFormatter {}) .send(&sbp_msg) .unwrap(); // Reconstruct Sbp message from json fields, roundtrip let sbp_msg = sbp::messages::Sbp::MsgVelNed( serde_json::from_str( std::str::from_utf8(json_buffer.as_slice()) .unwrap() .to_string() .as_str(), ) .unwrap(), ); match &sbp_msg { sbp::messages::Sbp::MsgVelNed(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x20e, "Incorrect message type, expected 0x20e, is {}", msg_type ); let sender_id = msg.sender_id().unwrap(); assert_eq!( sender_id, 0x88d3, "incorrect sender id, expected 0x88d3, is {sender_id}" ); assert_eq!( msg.d, -21, "incorrect value for d, expected -21, is {}", msg.d ); assert_eq!(msg.e, 0, "incorrect value for e, expected 0, is {}", msg.e); assert_eq!( msg.flags, 0, "incorrect value for flags, expected 0, is {}", msg.flags ); assert_eq!( msg.h_accuracy, 0, "incorrect value for h_accuracy, expected 0, is {}", msg.h_accuracy ); assert_eq!(msg.n, 1, "incorrect value for n, expected 1, is {}", msg.n); assert_eq!( msg.n_sats, 15, "incorrect value for n_sats, expected 15, is {}", msg.n_sats ); assert_eq!( msg.tow, 326827000, "incorrect value for tow, expected 326827000, is {}", msg.tow ); assert_eq!( msg.v_accuracy, 0, "incorrect value for v_accuracy, expected 0, is {}", msg.v_accuracy ); } _ => panic!("Invalid message type! Expected a MsgVelNED"), }; // Check payload is still identical let frame = sbp::to_vec(&sbp_msg).unwrap(); assert_eq!(frame, payload.into_inner()); } }